Region Of Interest (ROI) and dynamic parameters via launch file

[MrRivi]

Hello, I am trying to modify the roi parameters thrown by the camera_info topic:

So far I am using image_proc/crop_decimate. Maybe it is easier to just modify the camera parameters in the raspicam_node, although I don't know how to modify those parameters (via launch file) that are not explained in this git.

I am also using the rqt_reconfigure but there is no ROI available:

Thank you!

[elgarbe]

Hi, do you find a solution?
I would like to use my raspicam at high resolution but make a small ROI in order to detect tags that are just in front of the camera. I I think high resolution ->high precision, Small region of interest -> tags that are better aligned with Z camera axis -> better distance estimation.